main.cpp

00001 //**********************************************************************
00002 #include "mbed.h"
00003 #include "TextLCD.h"
00004 
00005 #include "star.h"
00006 #include "square.h"
00007 #include "jibanyan.h"
00008 
00009 #include "crescent_moon_edge.h"
00010 #include "crescent_moon_mesh.h"
00011 
00012 
00013 #include "blktest.h"
00014 #include "blktest2.h"
00015 
00016 #include "square_160x120_raster.h"
00017 #include "square_160x120_vector.h"
00018 #include "square_160x120_vector_half.h"
00019 #include "square_160x120_hybrid.h"
00020 
00021 #include "square_full_vector.h"
00022 #include "square_L_vector.h"
00023 #include "square_M_vector.h"
00024 #include "square_S_vector.h"
00025 
00026 
00027 #include <stdlib.h>
00028 
00029 
00030 Serial pc(USBTX, USBRX); // tx, rx
00031 TextLCD lcd(p26, p25, p24, p23, p22, p21); // rs, e, d4-d7
00032 
00033 SPI spi(p11, p12, p13); // mosi, miso, sclk
00034 DigitalOut CS(p10);
00035 DigitalOut LDAC(p9);
00036 
00037 DigitalOut BLK(p8); // laser blanking
00038 
00039 #define CHA 0x7000 // //0x0000  //0x7000
00040 #define CHB 0xF000 // //0x8000  //0xF000
00041 #define BLK_DELAY 80 // < 100 default
00042 //#define BLK_DELAY 160 // < 100
00043 
00044 
00045 //**********************************************************************
00046 
00047 void    mcp4922DataSet(char ch,  uint16_t dt)
00048 {
00049     if (dt >= 4096) {
00050         //return;
00051         dt = dt &0x0FFF;
00052     }
00053     //return;
00054     //
00055     if (ch == 'A') {
00056         dt = CHA | dt ;  //dt = 0b0111000000000000 | dt;
00057     } else {
00058         dt = CHB | dt ;  //dt = 0b1111000000000000 | dt;
00059     }
00060     //
00061     CS = 0;
00062 
00063     spi.write(dt);
00064     //LPC_SSP0->DR = dt; // | 0x10000; //hardware dependent
00065     //while(1) {
00066     //    if( (LPC_SSP0->SR &0x13) == 3) break;
00067     //}
00068 
00069     CS = 1;
00070 }
00071 
00072 //**********************************************************************
00073 
00074 void    mcp4922Init()
00075 {
00076     CS = 1;
00077 //    SCK = 0;
00078 //    SDI = 0;
00079     CS = 0;
00080     LDAC = 1;
00081     //
00082     mcp4922DataSet('A', 0);
00083     mcp4922DataSet('B', 0);
00084 }
00085 
00086 
00087 
00088 void high_flat(void)
00089 {
00090     while(1) {
00091         mcp4922DataSet('A', 4095);//wait_us(20);
00092         mcp4922DataSet('B', 4095);//wait_us(20);
00093 
00094         LDAC = 0;
00095         LDAC = 1;
00096         wait_us(100);
00097     }
00098 }
00099 
00100 
00101 void triangle2(void)
00102 {
00103     int i=0;
00104 
00105     while(1) {
00106         i++;
00107         if (i == 256) i = 0;
00108         else if (i < 128) {
00109             mcp4922DataSet('A', (i<<1)<<4);//wait_us(20);
00110             mcp4922DataSet('B', (i<<1)<<4);//wait_us(20);
00111         } else {
00112             mcp4922DataSet('A', ((255 - i)<<1)<<4);//wait_us(20);
00113             mcp4922DataSet('B', ((255 - i)<<1)<<4);//wait_us(20);
00114         }
00115         LDAC = 0;
00116         LDAC = 1;
00117         BLK = i % 2;
00118         wait_us(100);
00119     }
00120 }
00121 
00122 
00123 /*
00124 void star(void)
00125 {
00126     int i=0;
00127     uint16_t x,y;
00128 
00129     while(1) {
00130         x = star001[i++];
00131         y = star001[i++];
00132         if (x == 0 && y == 0) {
00133             i = 0;
00134         }
00135         x += 32767;
00136         y += 32767;
00137         x = 65535 - x; // X-axis invert
00138         mcp4922DataSet('A', x>>4);//wait_us(20);
00139         mcp4922DataSet('B', y>>4);//wait_us(20);
00140         LDAC = 0;
00141         LDAC = 1;
00142         wait_us(100);
00143 
00144     }
00145 }
00146 */
00147 /*
00148 void jibanyan(void)
00149 {
00150     int i=0;
00151     uint16_t x,y;
00152 
00153     while(1) {
00154         x = jibanyan001[i++];
00155         y = jibanyan001[i++];
00156         if (x == 0 && y == 0) {
00157             i = 0;
00158         }
00159         x += 32767;
00160         y += 32767;
00161         x = 65535 - x; // X-axis invert
00162         mcp4922DataSet('A', x>>4);//wait_us(20);
00163         mcp4922DataSet('B', y>>4);//wait_us(20);
00164         LDAC = 0;
00165         LDAC = 1;
00166         wait_us(100);
00167 
00168     }
00169 }
00170 */
00171 
00172 /*
00173 void square(void)
00174 {
00175     int i=0;
00176     uint16_t x,y;
00177     bool b;
00178 
00179     while(1) {
00180         b = square001[i++];
00181         x = square001[i++];
00182         y = square001[i++];
00183         if (x == 0 && y == 0) {
00184             i = 0;
00185         }
00186         x += 32767;
00187         y += 32767;
00188             mcp4922DataSet('A', x>>4);//wait_us(20);
00189             mcp4922DataSet('B', y>>4);//wait_us(20);
00190             LDAC = 0;
00191             LDAC = 1;
00192         BLK = b;
00193 //        wait_us(400);
00194         wait_us(2000);
00195 
00196     }
00197 
00198 }
00199 */
00200 
00201 
00202 
00203 /*
00204 void square(void)
00205 {
00206     int i=0;
00207     uint16_t x,y;
00208 
00209     while(1) {
00210         x = square001[i++];
00211         y = square001[i++];
00212         if (x == 0 && y == 0) {
00213             i = 0;
00214         }
00215         x += 32767;
00216         y += 32767;
00217         x = 65535 - x; // X-axis invert
00218         mcp4922DataSet('A', x>>4);//wait_us(20);
00219         mcp4922DataSet('B', y>>4);//wait_us(20);
00220         LDAC = 0;
00221         LDAC = 1;
00222         wait_us(100);
00223 
00224     }
00225 
00226 }
00227 */
00228 
00229 
00230 
00231 
00232 
00233 Ticker timer;
00234 
00235 uint8_t CNT=0;
00236 // timer.attach(&int_timer, 1); // 1 second
00237 void int_timer(void)
00238 {
00239     CNT++;
00240 }
00241 
00242 
00243 
00244 void laserscan(const int *p, const int num)
00245 {
00246     int i = 0;
00247     uint16_t x,y = 0;
00248     
00249 //        while(1) {
00250           while(CNT < 5) {
00251             
00252             x = *(p + i++);
00253             y = *(p + i++);    
00254 
00255 //            if (x == 0 && y == 0) {
00256 //                i = 0;
00257 //            }
00258 
00259             if (i == num) {
00260                 i = 0;
00261             }
00262 
00263             x += 32767;
00264             y += 32767;
00265             x = 65535 - x; // X-axis invert
00266 
00267             mcp4922DataSet('A', x>>4);//wait_us(20);
00268             mcp4922DataSet('B', y>>4);//wait_us(20);
00269 
00270             LDAC = 0;
00271             LDAC = 1;
00272 
00273             wait_us(100);        
00274         }
00275         CNT = 0;
00276 }  
00277 
00278 
00279 // add laser blanking control
00280 void laserscan_blk(const int *p, const int num)
00281 {
00282     int i = 0;
00283     uint16_t x,y = 0;
00284     bool b = 0;
00285     
00286 //        while(1) {
00287           while(CNT < 5) {
00288             
00289             b = *(p + i++);
00290             x = *(p + i++);
00291             y = *(p + i++);    
00292 
00293 //            if (x == 0 && y == 0) {
00294 //                i = 0;
00295 //            }
00296 
00297             if (i == num) {
00298                 i = 0;
00299             }
00300 
00301             x += 32767;
00302             y += 32767;
00303             x = 65535 - x; // X-axis invert
00304 
00305             mcp4922DataSet('A', x>>4);//wait_us(20);
00306             mcp4922DataSet('B', y>>4);//wait_us(20);
00307             LDAC = 0;
00308             LDAC = 1;
00309 
00310             wait_us(BLK_DELAY);
00311 //            BLK = b;
00312                 BLK = 1;
00313                 
00314             wait_us(200 - BLK_DELAY);        // default
00315 //            wait_us(400 - BLK_DELAY);        
00316 
00317         }
00318         CNT = 0;
00319 }  
00320 
00321 
00322 // serial com test
00323 void laserscan_com(void)
00324 {
00325     int i = 0;
00326     int buff[4] = {0,0,0,0};
00327     uint16_t x,y = 0;
00328     
00329         while(1) {
00330 
00331         for (i = 0; i < 4; i++) {
00332             char c = pc.getc();
00333             buff[i] = c;
00334 //            lcd.printf("%02X",buff[i]);
00335 
00336         }
00337 
00338 //        lcd.printf("\n");
00339 
00340         x = (buff[1] << 8) + buff[0];
00341         y = (buff[3] << 8) + buff[2];
00342 //        lcd.printf("x=%04X,y=%04X\n",x,y);
00343         
00344             if (x == 0 && y == 0) {
00345                 i = 0;
00346             }
00347 
00348             x += 32767;
00349             y += 32767;
00350             x = 65535 - x; // X-axis invert
00351 
00352             mcp4922DataSet('A', x>>4);//wait_us(20);
00353             mcp4922DataSet('B', y>>4);//wait_us(20);
00354 
00355             LDAC = 0;
00356             LDAC = 1;
00357 
00358             wait_us(100);       
00359         }
00360 }  
00361 
00362 
00363 
00364 
00365 
00366 int main(void)
00367 {
00368 
00369     spi.format(16,0);
00370     spi.frequency(20000000);
00371 
00372     pc.baud(230400);
00373 
00374     mcp4922Init();
00375     
00376     timer.attach(&int_timer, 1);
00377     
00378 /*
00379     while(1) {
00380         char c = pc.getc();
00381         lcd.printf("%02X",c);
00382 
00383 //            char str[] = "145";
00384 //            int buff = atoi(str);
00385 //            lcd.printf("%02X",buff);
00386             
00387         laserscan(c);
00388 
00389         }
00390 */
00391 
00392 //    triangle2();
00393 //        high_flat();
00394 
00395     while(1) {
00396 
00397 // non blanking control
00398 //        laserscan(jibanyan,jibanyan_dnum);
00399 //        laserscan(star,star_dnum);
00400 //        laserscan(crescent_moon_edge,crescent_moon_edge_dnum);
00401 //        laserscan(crescent_moon_mesh,crescent_moon_mesh_dnum);
00402 
00403 // add blanking control
00404 //       laserscan_blk(blktest2,blktest2_dnum);
00405 //       laserscan_blk(square_20x20_raster,square_20x20_raster_dnum);
00406 //       laserscan_blk(square_160x120_raster,square_160x120_raster_dnum);
00407 //       laserscan_blk(square_160x120_vector,square_160x120_vector_dnum);
00408 //       laserscan_blk(square_160x120_vector_half,square_160x120_vector_half_dnum);
00409 //       laserscan_blk(square_160x120_hybrid,square_160x120_hybrid_dnum);
00410 //       laserscan_blk(square_full_vector,square_full_vector_dnum);
00411        laserscan_blk(square_L_vector,square_L_vector_dnum);
00412        laserscan_blk(square_M_vector,square_M_vector_dnum);
00413        laserscan_blk(square_S_vector,square_S_vector_dnum);
00414 
00415 
00416 
00417 // add PC serial com
00418 //        laserscan_com();
00419     }
00420 
00421 
00422 }
00423 
00424 
00425